title: Multi-step prediction of physiological tremor for robotics applications.
abstract: The performance of surgical robotic devices in real-time mainly depends on phase-delay in sensors and filtering process. A phase delay of 16-20 ms is unavoidable in these robotics procedures due to the presence of hardware low pass filter in sensors and pre-filtering required in later stages of cancellation. To overcome this phase delay, we employ multi-step prediction with band limited multiple Fourier linear combiner (BMFLC) and Autoregressive (AR) methods. Results show that the overall accuracy is improved by 60% for tremor estimation compared to single-step prediction methods in the presence of phase delay. Experimental results with the proposed methods for 1-DOF tremor estimation highlight the improvement.
authors.forename: K C
authors.initials: KC
authors.lastname: Veluvolu
authors.forename: S
authors.initials: S
authors.lastname: Tatinati
authors.forename: S M
authors.initials: SM
authors.lastname: Hong
authors.forename: W T
authors.initials: WT
authors.lastname: Ang
mesh_terms: D000465:Algorithms; D003198:Computer Simulation; D005583:Fourier Analysis; D006801:Humans; D011930:Reaction Time; D012371:Robotics / Q000379:methods*; D012815:Signal Processing, Computer-Assisted; D014202:Tremor / Q000175:diagnosis* / Q000503:physiopathology*